CN214858397U

CN214858397U - Supporting structure, chassis structure, double-track walking stair climbing vehicle and intelligent stair climbing wheelchair

Info

Publication number: CN214858397U
Application number: CN202120216959.4U
Authority: CN
Inventors: 李�根; 仪国卿
Original assignee: Beijing Nade Intelligent Technology Co ltd
Current assignee: Beijing Nade Intelligent Technology Co ltd
Priority date: 2021-01-26
Filing date: 2021-01-26
Publication date: 2021-11-26
Anticipated expiration: 2031-01-26

Abstract

The utility model discloses a bearing structure, chassis structure, two crawler travel climb building car and intelligence and climb building wheelchair, it includes preceding track subassembly, back track subassembly, first axis of rotation and a drive mechanism, and back track subassembly includes preceding track section and back track section, and track subassembly rotates around first axis of rotation after the drive mechanism drive, when rotating and being in the first state, the front end of preceding track subassembly and the rear end downward sloping of back track subassembly and back track subassembly have the contained angle with preceding track subassembly, when rotating and being in the second state, preceding track subassembly is in on the coplanar with the walking plane of back track subassembly. The utility model has the advantages of the structure is succinct pleasing to the eye, conveniently turns to, can smooth-going, incessant downstairs, and the focus is low, and people's level is felt and is felt well and friendly to the auxiliary staff with the safety.

Description

Supporting structure, chassis structure, double-track walking stair climbing vehicle and intelligent stair climbing wheelchair

Technical Field

The utility model relates to a motor vehicle technical field, concretely relates to building chassis structure, two crawler walking stairs-climbing car, intelligent stairs-climbing wheelchair are climbed to two crawler bearing structure, two crawler walking.

Background

The stair climbing wheelchair is an indispensable tool for riding instead of walk for the elderly, the infirm and the disabled with the injured lower limbs, the range of motion of wheelchair users is gradually enlarged along with the increase of barrier-free facilities, but the wheelchair is greatly limited by stairs. The stair climbing wheelchair can be divided into: star wheel type, crawler type and stepping support type.

The stair climbing mechanism of the star wheel type stair climbing wheelchair consists of a plurality of small wheels which are uniformly distributed on a Y-shaped, five-star or cross-shaped tie rod. Each small wheel can rotate around the respective axis and can also revolve around the central shaft along with the tie rod. When walking on the flat ground, each small wheel rotates, and when climbing stairs, each small wheel revolves together, thereby realizing the function of climbing stairs.

The stair climbing wheelchair with the crawler-type mechanism adopts a continuous walking mode compared with a star-type wheel mechanism, and when a crawler leaves an upper step or moves to a lower step, the crawler inclines forwards and backwards due to gravity center deviation. The crawler-type stair climbing wheelchair is not suitable for being used in the environment with too smooth stair steps and the gradient of more than 30-35 degrees. The resistance of the crawler-type stair climbing wheelchair is large when the crawler-type stair climbing wheelchair travels on the flat ground, and the turning at the corner is not flexible. Therefore, various improvements have been proposed at home and abroad, which is still not ideal.

The principle of the step-by-step support type stair climbing wheelchair is that the wheelchair simulates the action of climbing stairs of a human body and is alternately supported by two sets of supporting devices so as to realize the function of going upstairs and downstairs. But the transmission mechanism is complex, the durability is poor, and the application is less.

Disclosure of Invention

To the problem that exists among the prior art, the utility model provides a building chassis structure is climbed in two track bearing structure, two track walking climb building car, intelligent building wheelchair of climbing.

In order to realize the purpose, the utility model discloses a technical scheme as follows:

a dual track support structure comprising: a front track assembly; the rear crawler assembly comprises a front crawler section and a rear crawler section, and the rear crawler section and the front crawler section are arranged in an L shape; a first rotation shaft disposed at or near a rear end of the front track assembly and at the same time disposed at or near a front end of the rear track assembly; first actuating mechanism, first actuating mechanism drive preceding track subassembly and/or back track subassembly wind first axis of rotation rotates, when rotating and being in the first state, preceding track subassembly's front end and back track subassembly's rear end downward sloping and back track subassembly have the contained angle with preceding track subassembly, when rotating and being in the second state, preceding track subassembly is in the coplanar with the walking plane of back track subassembly.

Optionally, the front track assembly includes a front track support, at least two front track wheels, and a front track annularly surrounding the front track wheels, and at least one of the front track wheels is a driving wheel.

Optionally, the rear track section is fixed to the front track section, and when in the first state, the rear track section extends rearward or rearward and upward.

Optionally, the front track section and the rear track section are one of the following: (1) the back crawler belt component is formed by winding the same crawler belt into an integral crawler belt structure, and (2) the back crawler belt component is formed by winding two crawler belts into two independent crawler belt structures.

Optionally, when the form (1) is adopted, the rear track assembly includes a rear track support, at least three rear track wheels and a rear track annularly wrapped around the rear track wheels, at least one of the rear track wheels is a driving wheel, and the three rear track wheels divide the rear track assembly into a front track section and a rear track section.

Optionally, the rear end of the front track assembly is provided with a driving wheel, the front end of the rear track assembly is provided with a driving wheel, and a central shaft of the driving wheel of the front track wheel and a central shaft of the driving shaft of the rear track assembly are the same shaft.

Optionally, the rear end of the front track assembly has a front crawler wheel, the front end of the rear track assembly has a rear crawler wheel, and the first rotating shaft passes through the axle center of the front crawler wheel and/or the crawler wheel.

Optionally, the first driving mechanism comprises:

a first connecting assembly connected to the rear track assembly;

one end of the first push-pull mechanism is connected with a fixed point, the other end of the first push-pull mechanism is connected with the first connecting component, and the first push-pull mechanism drives the rear crawler component to realize the conversion between a first state and a second state through the first connecting component.

Optionally, one end of the first push-pull mechanism is directly or indirectly connected to the front track supporting frame, the first connecting assembly is connected to the rear track supporting frame, the first connecting assembly extends upward from the front end of the rear track assembly, and the other end of the first push-pull mechanism is connected to the upper end of the first connecting assembly.

Optionally, the first push-pull mechanism is a first electric push rod.

Building chassis structure is climbed in two crawler-belts walking, including foretell two crawler-belts bearing structure, still include:

the front walking wheels are positioned at or close to the front end of the front crawler assembly, the rear walking wheels are positioned at or close to the rear end of the rear crawler assembly, and the third driving mechanism is used for driving the rear walking wheels to move;

the second driving mechanism and the third driving mechanism respectively drive the front traveling wheels and the rear traveling wheels to move, when the front traveling wheels or the rear traveling wheels move to a first state, the front traveling wheels or the rear traveling wheels downwards protrude out of the front crawler assembly or the rear crawler assembly so as to be directly contacted with the ground, and when the front traveling wheels or the rear traveling wheels move to a second state, the front traveling wheels or the rear traveling wheels upwards retract to the upper side of the front crawler assembly or the rear crawler assembly so as to leave the ground;

a power mechanism that provides power to the front track assembly and the rear track assembly.

Optionally, when the front track assembly and the rear track assembly are in the first state, the front traveling wheels or the rear traveling wheels are also in the first state, and when the front track assembly and the rear track assembly are in the second state, the front traveling wheels or the rear traveling wheels are also in the second state.

Optionally, the front road wheels and the rear road wheels move in one of the following manners: (1) rotating around a second rotating shaft, and (2) sliding along a track.

Optionally, the method (1) includes: one end of the second push-pull mechanism is connected with a fixed point, and the other end of the second push-pull mechanism is connected with the second connecting component; the second connecting assembly comprises a second rotating shaft, and the second push-pull mechanism drives the second rotating shaft to rotate so as to drive the front traveling wheels or the rear traveling wheels to realize the conversion between the first state and the second state.

Optionally, the front end of the front track assembly has a front track wheel, the rear end of the rear track assembly has a rear track wheel, and the second rotating shaft passes through an axle center of the front track wheel or the rear track wheel.

Optionally, the method (2) includes:

one end of the third push-pull mechanism is connected with a fixed point, and the other end of the third push-pull mechanism is connected with the third connecting component;

the front traveling wheels or the rear traveling wheels are connected with the sliding rails;

the third push-pull mechanism drives the sliding rail to slide, so that the front traveling wheels or the rear traveling wheels are driven to realize the conversion between the first state and the second state.

Optionally, the slide rail is disposed on the front track support or the rear track support.

Optionally, the front road wheels are universal wheels.

Optionally, the rear road wheel is a hub motor wheel.

Two crawler travel stairs-mover includes:

the double-crawler walking stair-climbing chassis structure;

a bearing mechanism connected to the forward track assembly.

Optionally, one end of the supporting mechanism is directly or indirectly connected to the rear end of the front crawler assembly through the first support member, and the other end of the supporting mechanism is directly or indirectly connected to the front end of the front crawler assembly through the second support member.

Optionally, the front track assembly includes a front track support frame, a rear end of the front track support frame extending upwardly to form the first support member, and the racking mechanism is connected to an upper end of the first support member.

Optionally, the front track assembly includes a front track supporting frame, the front end of the front track supporting frame is connected with the second supporting member, and the second supporting member is a fourth push-pull mechanism.

Building wheelchair is climbed to intelligence, including foretell two crawler travel stairs-mover, bearing mechanism is the seat, still includes the controller, the controller with power unit, first actuating mechanism, second actuating mechanism and second actuating mechanism link to each other.

Optionally, the second support is a fourth push-pull mechanism, and further comprises an angle sensor for detecting the inclination angle of the seat, the angle sensor is connected with the controller and the fourth push-pull mechanism, and the controller instructs the fourth push-pull mechanism to drive the seat to rotate to the required inclination angle according to a signal of the angle sensor.

Optionally, the seat comprises the following components: seat, back of the chair, handrail still include one or more of following parts: the chair comprises a leg support, a foot support and a push-pull handle, wherein the components are folded to the plane where the chair seat is located through a folding mechanism.

The step climbing method of the intelligent stair climbing wheelchair comprises the following steps:

(1) initial state: the intelligent stair-climbing wheelchair is characterized in that the front crawler assembly and the rear crawler assembly are kept in a first state, the front travelling wheels and the rear travelling wheels are also in the first state, and the intelligent stair-climbing wheelchair is driven by the front travelling wheels and the rear travelling wheels to travel on the ground;

(2) before going up the step: the rear crawler belt section is enabled to be in upward inclined contact with the steps, the power mechanism drives the rear crawler belt section to rotate so as to climb the steps, and meanwhile, the second driving mechanism and the third driving mechanism respectively drive the front travelling wheels and the rear travelling wheels to move to a second state;

(3) in the step of going up: the intelligent stair climbing wheelchair is driven by the traveling planes of the front crawler assembly and the front crawler assembly to climb up the steps;

(4) after the step is carried out: the first driving mechanism drives the front crawler assembly and the rear crawler assembly to rotate to a first state, and the second driving mechanism and the third driving mechanism respectively drive the front travelling wheels and the rear travelling wheels to move to the first state;

the lower step method comprises the following steps:

(2) before descending the steps: the second driving mechanism and the third driving mechanism respectively drive the front travelling wheels and the rear travelling wheels to move to a second state, and the first driving mechanism drives the front crawler assembly and the rear crawler assembly to rotate to the second state;

(3) in the lower step: the intelligent stair climbing wheelchair is driven by the walking planes of the front crawler assembly and the front crawler assembly to climb downwards to the step;

(4) after descending the steps: the first driving mechanism drives the front crawler assembly and the rear crawler assembly to rotate to a first state, and the second driving mechanism and the third driving mechanism respectively drive the front traveling wheels and the rear traveling wheels to move to the first state.

Optionally, in step (2) of the step climbing method, the front track assembly and the rear track assembly are driven by the first driving mechanism to rotate to a larger included angle, so that the rear track section tilts upwards to contact the step.

According to the method for accommodating the intelligent stair climbing wheelchair, the first driving mechanism drives the front crawler assembly and the rear crawler assembly to keep the second state, and the second driving mechanism and the third driving mechanism respectively drive the front travelling wheels and the rear travelling wheels to keep the second state; each part of the seat is folded to the same plane of the seat, so that the intelligent stair climbing wheelchair is minimized in size and convenient to store.

The utility model has the advantages that:

(1) the structure is novel and simple, the front-back distance of the double-track supporting structure is shortened by utilizing the first state of the front track assembly and the rear track assembly, the size is convenient to reduce, and the steering is more convenient in narrow spaces such as stairs; the rear track section is utilized to start climbing the steps. When the front crawler assembly and the rear crawler assembly are in the second state, the length of the whole crawler walking plane is increased, and the stair climbing stability is improved;

(2) the double-crawler traveling stair-climbing chassis structure utilizes the movable front traveling wheels and the movable rear traveling wheels to realize the alternate switching of the traveling wheels and the crawler, namely, the double-crawler traveling stair-climbing chassis structure travels on the ground by the front traveling wheels and the rear traveling wheels and travels on steps by the crawler. In addition, the front and rear travelling wheels can gradually extend out or retract to the positions below and above the front crawler assembly and the rear crawler assembly, so that the switching between ground travelling and stair climbing is smooth and uninterrupted. If the second driving mechanism and the third driving mechanism are respectively arranged on the front crawler assembly and the rear crawler assembly, the first state and the second state of the front walking wheels and the rear walking wheels can be simultaneously switched while the first state and the second state of the front crawler assembly and the rear crawler assembly are switched, so that the actions of ascending and descending steps can be smoothly and uninterruptedly realized;

(3) the double-crawler-belt walking stair-climbing chassis structure is matched with the front walking wheels and the rear walking wheels, so that the first state and the second state of the front crawler belt assembly and the rear crawler belt assembly and the continuous conversion of the first state and the second state of the front walking wheels and the rear walking wheels can be realized when the stairs go up and down, and the continuous and uninterrupted steps can be realized;

(4) the bearing mechanisms and the seats of the dual-crawler traveling stair climbing vehicle and the intelligent stair climbing wheelchair are directly arranged on the front crawler assembly, so that when the front crawler assembly and the rear crawler assembly are in a first state, the seats are in a higher and normal seat position, and the sitting posture is more comfortable; when the front crawler assembly and the rear crawler assembly are in the second state, the front crawler assembly and the rear crawler assembly move downwards to be in a parallel state, so that the position of the seat is naturally lowered, the gravity center is lowered, and the phenomenon that the gravity center deviates to tilt forwards and backwards is avoided;

(5) when the second support in the dual-crawler-belt walking stair climbing vehicle and the intelligent stair climbing wheelchair is the fourth push-pull mechanism, the levelness of the chair surface can be adjusted through the fourth push-pull mechanism along with the change of the walking state, so that the chair surface is always kept in a horizontal state, and the levelness and the safety of people are improved;

(6) for the intelligent stair climbing wheelchair, the intelligent stair climbing wheelchair is friendly to auxiliary personnel due to the advantages of small volume, convenience in steering and capability of realizing stair climbing uninterruptedly, and only the nodes on the upper step and the lower step are required to instruct the intelligent stair climbing wheelchair to act, so that much labor is not required.

Drawings

Fig. 1 is a front view of the intelligent stair-climbing wheelchair of the present invention;

FIG. 2 is a right side view of FIG. 1;

FIG. 3 is a left side view of FIG. 1;

FIG. 4 is a bottom view of FIG. 1;

FIG. 5 is a top view of FIG. 1;

FIG. 6 is a first perspective view of FIG. 1;

FIG. 7 is a second perspective view of FIG. 1;

FIG. 8 is a third perspective view of FIG. 1;

FIG. 9 is an initial state diagram of the intelligent stair-climbing wheelchair of the present invention;

fig. 10 is an initial stair climbing state diagram of the intelligent stair climbing wheelchair of the present invention;

FIG. 11 is a state diagram of the intelligent stair climbing wheelchair of the present invention during stair climbing;

FIG. 12 is a state diagram of the intelligent stair climbing wheelchair of the present invention climbing to the top;

fig. 13 is a stair climbing completion state diagram of the intelligent stair climbing wheelchair of the present invention;

FIG. 14 is a front view of the intelligent stair-climbing wheelchair in a folded state;

fig. 15 is a perspective view of fig. 14.

In the figure:

a front track assembly 1; a front crawler side fender 11; a front crawler wheel 12; a front crawler belt 13;

a rear track assembly 2; a front track section 21; a rear track section 22; a rear crawler side fender 23; rear track wheels 24; a rear crawler 25; a tension pulley 26;

a first rotating shaft 3;

a first drive mechanism 4; a first electric push rod 41; a first connection assembly 42;

a front road wheel 5;

a second drive mechanism 6; a second electric push rod 61; a steering arm 62; a support arm 63; a steering shaft 64;

a rear traveling wheel 7;

a third drive mechanism 8; a third electric putter 81; a slide rail 82; a chute 83; an axle 84; a chute beam 85; a slide rail cross member 86;

a motor 9;

a seat 10;

a first leg 110;

a fourth electric putter 120.

Detailed Description

In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.

Example 1 double track support Structure

The dual track support structure of the present embodiment is described with reference to fig. 1 to 13, and includes a front track assembly 1, a rear track assembly 2, a first rotating shaft 3, and a first driving mechanism 4.

Wherein: the rear crawler assembly 2 comprises a front crawler section 21 and a rear crawler section 22, the rear crawler section 22 and the front crawler section 21 are arranged in an L shape, and the rear crawler section 22 inclines upwards and is used for climbing a slope or climbing steps. The first rotating shaft 3 is arranged at the rear end of the front crawler assembly 1 or close to the rear end, and meanwhile, the first rotating shaft 3 is arranged at the front end of the rear crawler assembly 2 or close to the front section, so that the front crawler assembly 1 and the rear crawler assembly 2 are inverted V-shaped after being folded, on one hand, the front-back distance of the double-crawler supporting structure can be shortened, the size is reduced, the steering is convenient, and on the other hand, a triangular firm supporting structure is formed when the crawler supporting frames of the front crawler assembly 1 and the rear crawler assembly 2 are used as a supporting body. The first driving mechanism 4 drives the front crawler assembly 1 and/or the rear crawler assembly 2 to rotate around the first rotating shaft 3, when the rotation is in a first state, the front end of the front crawler assembly 1 and the rear end of the rear crawler assembly 2 incline downwards, the rear crawler assembly 2 and the front crawler assembly 1 form an included angle, and when the rotation is in a second state, the walking planes of the front crawler assembly 1 and the rear crawler assembly 2 are on the same plane.

Specifically, the front crawler assembly 1 comprises a front crawler support frame, the front crawler support frame comprises two front crawler side stoppers 11 and a connecting rod connected between the two front crawler side stoppers 11, front crawler wheels 12 are arranged at the front end and the rear end of the front crawler support frame, and one front crawler wheel 12 at the rear end is a driving wheel. A front nylon track is arranged below the two front crawler side baffles 11, and a front crawler 13 is annularly wrapped outside the two front crawler wheels 12.

Specifically, the rear track section 22 and the front track section 21 are fixed together, which means that the included angle between the L-shaped rear track section 22 and the front track section 21 is not changed, and when in the first state, the rear track section 22 extends backward or backward and upward. The front track section 21 and the rear track section 22 are one of the following: (1) the back crawler belt component 2 is formed by winding the same crawler belt into an integral crawler belt structure, and the back crawler belt component 2 is formed by winding two crawler belts into two independent crawler belt structures. When the form (1) is adopted, the rear track assembly 2 includes a rear track frame including two rear track side guards 23 and a connecting rod connected between the two rear track side guards 23. The two rear crawler side blocks 23 are bent into an L shape, rear crawler wheels 24 are arranged at two ends of each rear crawler side block, a rear crawler wheel 24 is arranged on the outer side of a corner of the L shape, a tension wheel 26 is arranged on the inner side of the corner of the L shape, and the rear crawler wheel 24 at the front end is a driving wheel. And a rear crawler belt 25 annularly wrapped outside the three front crawler wheels 12, and an idler 26 presses the outside of the rear crawler belt 25. Three rear track wheels 24 divide the rear track assembly 2 into a front track section 21 and a rear track section 22.

Specifically, the rear end of the front track assembly 1 has a driving wheel, the front end of the rear track assembly 2 has a driving wheel, the central axis of the driving wheel of the front track wheel 12 is the same as the central axis of the driving shaft of the rear track assembly 2, and the driving shaft is driven by the motor 9 to rotate, so that the front track 13 and the rear track 25 are driven to operate simultaneously. The drive shaft forms the first rotation shaft 3.

As a specific example, the first drive mechanism 4 includes: a first link assembly 42 connecting the rear track assembly 2; one end of the first push-pull mechanism is connected with a fixed point, and the fixed point refers to one end which is not retractable under the action of the push rod and is shown as a hinged connection. The other end of the first push-pull mechanism is connected with the first connecting component 42, and the first push-pull mechanism drives the rear crawler assembly 2 to realize the conversion between the first state and the second state through the first connecting component 42. In a specific example of the structure, the first push-pull mechanism is a first electric push rod 41, one end of the first electric push rod 41 is connected to the front track supporting frame, and the other end is connected to the first connecting assembly 42. The first link assembly 42 is formed by extending upwardly from the front drive wheel of the rear track frame. When the telescopic rod of the first electric push rod 41 stretches back and forth, the rear crawler belt assembly 2 is driven to rotate around the driving shaft, and the conversion between the first state and the second state is realized.

Embodiment 2 double-crawler walking stair-climbing chassis structure

The dual-track walking stair-climbing chassis structure of the present embodiment is described with reference to fig. 1 to 13, and includes the dual-track support structure of embodiment 1, and further includes front walking wheels 5, a second driving mechanism 6, rear walking wheels 7, a third driving mechanism 8, and a power mechanism.

The front road wheels 5 are located at or near the front end of the front track assembly 1 and the rear road wheels 7 are mounted at or near the rear end of the rear track assembly 2 so that the front road wheels 5 and the rear road wheels 7 have a greater distance.

The second driving mechanism 6 and the third driving mechanism 8 respectively drive the front traveling wheels 5 and the rear traveling wheels 7 to move, and when the front traveling wheels 5 or the rear traveling wheels 7 move to a first state, the front traveling wheels 5 or the rear traveling wheels 7 protrude downwards to the front crawler belt assembly 1 or the rear crawler belt assembly 2, so that the front traveling wheels 5 or the rear traveling wheels 7 can be directly contacted with the ground. When the front road wheels 5 or the rear road wheels 7 move to the second state, the front road wheels 5 or the rear road wheels 7 retract upwards to the upper side of the front crawler belt assembly 1 or the rear crawler belt assembly 2, so that the front road wheels or the rear road wheels can leave the ground. The structure is used for realizing the alternate switching of the walking wheels and the crawler, namely walking by the front and rear walking wheels 7 on the ground and walking by the crawler on the steps.

A power mechanism, optionally a motor 9, provides power to the front and

rear track assemblies

1, 2.

For the alternative switching walking of cooperation walking wheel and track, when current track subassembly 1 and back track subassembly 2 were in the first state, preceding walking wheel 5 or back walking wheel 7 were also in the first state, and when current track subassembly 1 and back track subassembly 2 were in the second state, preceding walking wheel 5 or back walking wheel 7 were also in the second state. It will be appreciated that this approach may be implemented using controllers, having coordinated courses of action.

Compared with the prior art, the utility model discloses a two crawler travel climb building chassis structure in the front track subassembly 1 and the switching of the first state and the second state of back track subassembly 2 and the first state and the switching of the second state of preceding walking wheel 5 and back walking wheel 7 can both be continuous, smooth-going, and uninterrupted again, can realize continuous, smooth-going, incessant action of upper and lower step. As a stair climbing wheelchair, the height change of the seat 10 during upstairs and downstairs is also continuous, smooth and uninterrupted.

As a specific example, the front road wheels 5 and the rear road wheels 7 are moved in one of the following ways: (1) rotating around a second rotating shaft, and (2) sliding along a track.

Specifically, the mode (1) includes: one end of the second push-pull mechanism is connected with a fixed point, and the other end of the second push-pull mechanism is connected with the second connecting component. The second connecting component comprises a second rotating shaft, and the second push-pull mechanism drives the second rotating shaft to rotate so as to drive the front traveling wheels 5 or the rear traveling wheels 7 to realize the conversion between the first state and the second state.

The front end of the front crawler assembly 1 has a front crawler wheel 12, the rear end of the rear crawler assembly 2 has a rear crawler wheel 24, the second rotating shaft passes through the axle center of the front crawler wheel 12 or the rear crawler wheel 24, and the axle center of the front crawler wheel 12 or the rear crawler wheel 24 is a non-driving wheel. This allows the front road wheels 5 to be mounted at the front end of the front track assembly 1 and the rear road wheels 7 to be mounted at the rear end of the rear track assembly 2, so that the front road wheels 5 and the rear road wheels 7 have a greater distance.

In the above description, the second push-pull mechanism is the driving assembly, the second connecting assembly is the steering assembly, and the second rotating shaft is the steering shaft 64.

The following exemplifies the former traveling wheels 5 in the manner (1).

The steering assembly comprises a support arm 63 and a steering arm 62 which are connected to a steering shaft 64, wherein the front traveling wheels 5 are installed at the end part of the steering arm 62, the driving assembly is connected to the end part of the support arm 63, the driving assembly drives the steering shaft 64 to rotate through the support arm 63, and the steering shaft 64 drives the front traveling wheels 5 to rotate through the steering arm 62. The driving assembly is arranged on the front crawler supporting frame, and the driving assembly is a second electric push rod 61. The front traveling wheels 5 are universal wheels. The number of the front crawler assemblies 1 is two, the steering shaft 64 passes through the axial centers of two non-driving wheels, and the number of the front traveling wheels 5 is two.

The mode (2) includes:

the sliding rail 82 is connected with the front travelling wheel 5 or the rear travelling wheel 7;

the third push-pull mechanism drives the sliding rail 82 to slide, so as to drive the front traveling wheels 5 or the rear traveling wheels 7 to realize the conversion between the first state and the second state.

In the above description, the telescopic assembly includes the slide rail 82 and the sliding slot 83 which are matched with each other, the third push-pull mechanism is connected by the driving member, and the driving assembly drives the traveling wheel to move along the sliding slot 83.

The following traveling wheels 7 are exemplified as the mode (2).

To simplify the structure, the rear track frame is used as a vehicle body frame, and the slide groove 83 and the slide rail 82 are mounted on the front track frame. A drive assembly is mounted on the track support. The driving component is a third electric push rod 81. The rear travelling wheel 7 is a wheel of a hub motor 9, and can provide power for the rear travelling wheel when travelling on the ground.

The number of the rear crawler assemblies 2 is two, the two sliding grooves 83 are respectively installed on the inner sides of the two rear crawler support frames, a sliding groove cross beam 85 is arranged between the sliding grooves 83, the two rear walking wheels 7 are connected together through a wheel shaft 84, two ends of the wheel shaft 84 are respectively connected to the sliding rails 82 at two ends, and the driving assembly is connected between the sliding groove cross beam 85 and the rail shaft 84. Advantageously, a sliding rail cross member 86 is further connected between the two sliding rails 82.

Embodiment 3 double-track walking stair climbing vehicle

The dual-track walking stair climbing vehicle of the embodiment is described with reference to fig. 1 to 13, and comprises the dual-track walking stair climbing chassis structure of the embodiment 2 and a supporting mechanism, wherein the supporting mechanism is connected to the front track assembly 1. The support mechanism may be a chair 10, a bed, a pallet or a carriage or the like.

Advantageously, one end of the racking mechanism is directly or indirectly connected to the rear end of the front track assembly 1 by a first brace 110 and the other end is directly or indirectly connected to the front end of the front track assembly 1 by a second brace. This structure makes preceding track subassembly 1 of two crawler-belt walking stair climbing cars and back track subassembly 2 as the main part support part of bearing mechanism, is different from traditional building wheelchair of climbing and attaches the track on the wheelchair basis, and this structure is succinct compacter, reduces redundantly.

Specifically, the rear end of the front track frame extends upward to form a first support member 110, and the support mechanism is connected to the upper end of the first support member 110. The front end of the front track supporting frame is connected with a second supporting piece, and the second supporting piece is a fourth electric push rod 120. The levelness and the gravity center of the supporting mechanism can be adjusted as required through the fourth electric push rod 120.

Embodiment 4 Intelligent stair climbing wheelchair

As shown in fig. 1 to 13, the intelligent stair climbing wheelchair includes a dual-track walking stair climbing vehicle according to embodiment 3, wherein the supporting mechanism is a chair 10, and further includes a controller, and the controller is connected with a power mechanism, a first electric push rod 41, a second electric push rod 61 and a third electric push rod 81.

The second branch is fourth electric putter 120, still including the angle sensor who is used for detecting seat 10 inclination, angle sensor links to each other with controller and fourth electric putter 120, and the controller drives seat 10 and rotates to required inclination according to angle sensor's signal instruction fourth electric putter 120, including the levelness that can real-time detection seat, controls fourth electric putter 120 and adjusts the levelness of seat at any time, makes the seat remain the horizontality throughout, increases people's level and sense of security.

The utility model discloses an intelligent stair climbing wheelchair, because seat 10 is installed on front track subassembly 1, and front track 13 subassemblies and back track subassembly 2 can fold or set level again, therefore, when front track subassembly 1 and back track subassembly 2 are in the first state, make seat 10 in a higher, normal seat 10 position, make the position of sitting more comfortable; when front track assembly 1 and back track assembly 2 are in the second state, because front track assembly 1 and back track assembly 2 move down to the parallel state, also make seat 10 position decline naturally, be favorable to reducing the focus, avoid the focus skew and tilt from beginning to end.

Specifically, the seat 10 includes the following components: the chair comprises a chair surface, a chair back, armrests, leg bearings, foot bearings and a push-pull handle, wherein the chair surface, the chair back, the armrests, the leg bearings, the foot bearings and the push-pull handle are folded to a plane where the chair surface is located through a folding mechanism. The folding mechanism adopts a conventional foldable limiting structure, specifically, the leg support is lifted upwards to be on the same plane with the chair surface, the foot support is folded upwards to be above the leg support, the chair back is folded downwards to be above the chair surface, and the armrest is folded upwards or downwards to be on the same plane with the chair back.

Embodiment 5 method for getting on and off steps of intelligent stair climbing wheelchair

As shown in fig. 9 to 13, the method for climbing stairs and descending stairs of the intelligent stair climbing wheelchair of embodiment 4, in particular to the method for climbing stairs and descending stairs, the method for climbing stairs comprises the following steps:

(1) initial state: the front crawler assembly 1 and the rear crawler assembly 2 are kept in a first state, the front traveling wheels 5 and the rear traveling wheels 7 are also in the first state, and the intelligent stair climbing wheelchair is driven by the front traveling wheels 5 and the rear traveling wheels 7 to travel on the ground;

(2) initial stair climbing state: when approaching the step, the first electric push rod 41 is instructed to gradually contract to drive the rear track assembly 2 to rotate around the first rotating shaft 3, so that the rear track section 22 is inclined upwards to contact the step; simultaneously instructing the motor 9 to drive the front track assembly 1 and the rear track assembly 2 to rotate so as to climb a first step, and simultaneously driving the front travelling wheels 5 and the rear travelling wheels 7 to move to a second state by the second electric push rod 61 and the third electric push rod 81 respectively;

(3) climbing the stairs: in the process that the rear crawler belt section 22 climbs a first step to the front crawler belt assembly 1 and also climbs the step, the first electric push rod 41 drives the front crawler belt assembly 1 and the rear crawler belt assembly 2 to gradually rotate to a second state and keep the second state, and in the process of climbing the step, the intelligent stair climbing wheelchair is driven by the traveling planes of the front crawler belt assembly 1 and the front crawler belt assembly 1 to climb the step upwards;

(4) a top climbing state: when the rear crawler belt section 22 climbs the last step (platform), the first electric push rod 41 drives the front crawler belt assembly 1 and the rear crawler belt assembly 2 to rotate, so that the walking plane of the front crawler belt section 21 is attached to the step plane, then the first electric push rod 41 drives the front crawler belt assembly 1 and the rear crawler belt assembly 2 to continuously rotate to the first state and simultaneously instructs the motor 9 to drive the front crawler belt assembly 1 and the rear crawler belt assembly 2 to stop rotating;

(5) and (3) climbing the building: the front track assembly 1 and the rear track assembly 2 maintain the first state, and the second electric push rod 61 and the third electric push rod 81 respectively drive the front traveling wheels 5 and the rear traveling wheels 7 to move to the first state.

The next step method comprises the following steps:

(2) initial downstairs state: when approaching a step, the second electric push rod 61 and the third electric push rod 81 respectively drive the front traveling wheel 5 and the rear traveling wheel 7 to move to a second state, then simultaneously instruct the motor 9 to drive the front crawler assembly 1 and the rear crawler assembly 2 to rotate, simultaneously the first electric push rod 41 drives the front crawler assembly 1 and the rear crawler assembly 2 to rotate until the walking plane of the front crawler assembly 1 is approximately the same as the gradient of the step, and the front crawler assembly 1 and the rear crawler assembly 2 gradually rotate to the second state while the front crawler assembly 1 first descends the first step;

(3) the state in going downstairs: the front crawler assembly 1 and the rear crawler assembly 2 are driven to keep a second state, and the intelligent stair climbing wheelchair is driven by the traveling planes of the front crawler assembly 1 and the front crawler assembly 1 to climb down steps;

(4) the bottom state: when the front crawler assembly 1 leaves the last step, the first electric push rod 41 drives the front crawler assembly 1 and the rear crawler assembly 2 to gradually rotate to a first state, and simultaneously the motor 9 is instructed to drive the front crawler assembly 1 and the rear crawler assembly 2 to stop rotating, so that the whole downstairs process of the intelligent stair climbing wheelchair is completed in the process of rotating to a second state;

(5) the completion state of going downstairs: the front track assembly 1 and the rear track assembly 2 maintain the first state, and the second electric push rod 61 and the third electric push rod 81 respectively drive the front traveling wheels 5 and the rear traveling wheels 7 to move to the first state.

Optionally, in step (2) of the stair climbing method, the front track assembly 1 and the rear track assembly 2 are rotated to a large included angle by the first electric push rod 41, so that the rear track section 22 is inclined upward to contact the stairs.

Optionally, during the step ascending or step descending process, the angle sensor detects the inclination of the plane of the seat 10 in real time, and instructs the fourth electric push rod 120 in real time to ensure that the seat 10 is in a plane, which is optionally a horizontal plane.

Embodiment 6 folding and storing method of intelligent stair climbing wheelchair

As shown in fig. 14 and 15, in the folding and storing method of the intelligent stair climbing wheelchair, the first electric push rod 41 drives the front crawler assembly 1 and the rear crawler assembly 2 to maintain the second state, and the second electric push rod 61 and the third electric push rod 81 drive the front traveling wheels 5 and the rear traveling wheels 7 to maintain the second state, respectively; the components of the seat 10 are folded to the same plane of the seat 10, so that the volume of the intelligent stair climbing wheelchair is minimized, and the intelligent stair climbing wheelchair is convenient to store.

Specifically, the leg support is lifted upwards to the same plane with the chair surface, the foot support is folded upwards to the upper part of the leg support, the chair back is folded downwards to the upper part of the chair surface, and the armrest is folded upwards or downwards to the same plane with the chair back.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. Support structure, characterized in that includes:

a front track assembly;

the rear crawler assembly comprises a front crawler section and a rear crawler section, and the rear crawler section and the front crawler section are arranged in an L shape;

a first rotation shaft disposed at or near a rear end of the front track assembly and at the same time disposed at or near a front end of the rear track assembly;

first actuating mechanism, first actuating mechanism drive preceding track subassembly and/or back track subassembly wind first axis of rotation rotates, when rotating and being in the first state, preceding track subassembly's front end and back track subassembly's rear end downward sloping and back track subassembly have the contained angle with preceding track subassembly, when rotating and being in the second state, preceding track subassembly is in the coplanar with the walking plane of back track subassembly.

2. The support structure of claim 1, wherein the front track assembly includes a front track carrier, at least two front track wheels, and a front track annularly wrapped around the front track wheels, at least one front track wheel being a drive wheel.

3. The support structure of claim 1, wherein the rear track section is secured with the front track section, and the rear track section extends rearwardly or upwardly when in the first state.

4. A support structure as claimed in claim 1 or 3, wherein the front and rear track sections are of one of the following forms: (1) the back crawler belt component is formed by winding the same crawler belt into an integral crawler belt structure, and (2) the back crawler belt component is formed by winding two crawler belts into two independent crawler belt structures.

5. The support structure of claim 4, wherein when in form (1), the rear track assembly includes a rear track support, at least three rear track wheels and a rear track annularly wrapped around the rear track wheels, at least one of the rear track wheels being a drive wheel, the three rear track wheels dividing the rear track assembly into a front track segment and a rear track segment.

6. The support structure of claim 1, wherein the rear end of the front track assembly has a drive wheel and the front end of the rear track assembly has a drive wheel, the central axis of the drive wheel of the front track wheel being co-axial with the central axis of the drive shaft of the rear track assembly.

7. A support structure according to claim 1 or claim 6, wherein the rear end of the front track assembly has a front track wheel and the front end of the rear track assembly has a rear track wheel, the first axis of rotation passing through the axle centre of the front and/or track wheels.

8. The support structure of claim 1, wherein the first drive mechanism comprises:

a first connecting assembly connected to the rear track assembly;

9. The support structure of claim 8, wherein one end of the first push-pull mechanism is directly or indirectly connected to the front track frame, the first linkage assembly is connected to the rear track frame and extends upward from a front end of the rear track assembly, and the other end of the first push-pull mechanism is connected to an upper end of the first linkage assembly.

10. The support structure of claim 9, wherein the first push-pull mechanism is a first powered push rod.

11. Chassis structure, characterized in that it comprises a support structure according to any one of claims 1 to 10, and further comprises:

a front road wheel at or near a front end of the front track assembly,

the rear travelling wheels are positioned at or close to the rear end of the rear crawler assembly;

12. The chassis structure of claim 11, wherein the front or rear road wheels are also in the first state when the front and rear track assemblies are in the first state and in the second state when the front and rear track assemblies are in the second state.

13. The chassis structure of claim 11, wherein the front and rear road wheels move in one of: (1) rotating around a second rotating shaft, and (2) sliding along a track.

14. Chassis structure according to claim 13, characterized in that said means (1) comprise:

one end of the second push-pull mechanism is connected with a fixed point, and the other end of the second push-pull mechanism is connected with the second connecting component;

the second connecting assembly comprises a second rotating shaft, and the second push-pull mechanism drives the second rotating shaft to rotate so as to drive the front traveling wheels or the rear traveling wheels to realize the conversion between the first state and the second state.

15. The undercarriage structure of claim 14 wherein said front end of said front track assembly has a front track wheel and said rear end of said rear track assembly has a rear track wheel, said second rotational axis passing through an axial center of said front or rear track wheel.

16. Chassis structure according to claim 13, characterized in that said means (2) comprise:

17. The undercarriage structure of claim 16 wherein the slide rails are disposed on either the front track support or the rear track support.

18. The chassis structure of claim 11, wherein the front road wheels are universal wheels.

19. The chassis structure of claim 11, wherein the rear road wheels are hub motor wheels.

20. Two crawler-belt walking stairs-mover, its characterized in that includes:

the chassis structure of any one of claims 11-19;

a bearing mechanism connected to the forward track assembly.

21. A dual track-walking stair-climbing vehicle as claimed in claim 20, wherein said supporting mechanism is connected at one end directly or indirectly to the rear end of the front track assembly by a first support member and at the other end directly or indirectly to the front end of the front track assembly by a second support member.

22. A dual track-walking stair-climbing vehicle as claimed in claim 21, wherein said front track assembly includes a front track support frame having a rear end extending upwardly to form said first leg, said racking mechanism being attached to an upper end of the first leg.

23. The dual track walking stair climbing vehicle of claim 21, wherein the front track assembly comprises a front track support frame, the front end of the front track support frame being connected to the second brace, the second brace being a fourth push-pull mechanism.

24. An intelligent stair climbing wheelchair, comprising the dual-track walking stair climbing vehicle as claimed in any one of claims 20 to 23, wherein the supporting mechanism is a chair, and further comprising a controller, and the controller is connected with the power mechanism, the first driving mechanism, the second driving mechanism and the second driving mechanism.

25. The intelligent stair climbing wheelchair of claim 24 wherein the second support is a fourth push-pull mechanism, and further comprising an angle sensor for detecting the tilt angle of the seat, the angle sensor being connected to the controller and the fourth push-pull mechanism, the controller instructing the fourth push-pull mechanism to rotate the seat to a desired tilt angle according to a signal from the angle sensor.

26. The intelligent stair climbing wheelchair of claim 24 wherein the seat comprises the following components: seat, back of the chair, handrail still include one or more of following parts: the chair comprises a leg support, a foot support and a push-pull handle, wherein the components are folded to the plane where the chair seat is located through a folding mechanism.